JP2018003514A5

JP2018003514A5 -

Info

Publication number: JP2018003514A5
Application number: JP2016134387A
Authority: JP
Filing date: 2016-07-06
Publication date: 2018-08-16
Anticipated expiration: 2036-07-06

Description

上記目的を達成するために、本発明は、多関節型の作業機と、前記作業機を駆動する複数の油圧アクチュエータと、前記複数の油圧アクチュエータに操作信号を出力する操作装置と、複数の目標面を連結して定義された目標形状が記憶されている記憶部と、前記作業機の先端部分に設定された制御点が前記目標形状の下方に在る場合、前記目標形状上で前記制御点に最も近い目標面を制御対象面とする制御対象面選択部と、前記操作装置を介してオペレータから掘削操作が入力された場合に、前記制御対象面上およびその上方に前記制御点の動作範囲が制限されるように前記複数の油圧アクチュエータを制御する目標動作制御部とを備え、前記制御対象面選択部は、前記制御点が前記目標形状上またはその上方に在る場合、前記目標形状上で前記制御点に最も近い点が変曲点か否かを判定し、前記判定で前記制御点に最も近い点が変曲点であると判定され且つ前記変曲点が法肩であるとき、前記変曲点に対応する前記目標形状上の変曲点を通る仮想的な面を前記制御対象面とすることとした。 In order to achieve the above object, the present invention provides an articulated work machine, a plurality of hydraulic actuators that drive the work machine, an operation device that outputs operation signals to the plurality of hydraulic actuators, and a plurality of targets. A storage unit storing a target shape defined by connecting surfaces, and a control point set at a tip portion of the work implement below the target shape, the control point on the target shape When the excavation operation is input from the operator via the operation device and the control target surface selection unit that sets the target surface closest to the control target surface, the operation range of the control point on and above the control target surface A target motion control unit that controls the plurality of hydraulic actuators so that the control point is limited , and the control target surface selection unit is arranged on the target shape when the control point is on or above the target shape. so It is determined whether the point closest to the control point is an inflection point, and when the determination determines that the point closest to the control point is an inflection point and the inflection point is a shoulder, a virtual plane passing the inflection point on the target shape corresponding to the inflection point was to Rukoto and the control target surface.

Claims

An articulated work machine,
A plurality of hydraulic actuators for driving the working machine;
An operation device for outputting an operation signal to the plurality of hydraulic actuators;
A storage unit storing a target shape defined by connecting a plurality of target surfaces;
A control target surface selection unit that sets the target surface closest to the control point set on the tip of the work machine on the target shape as the control target surface;
A target operation control unit that controls the plurality of hydraulic actuators so that an operation range of the control point is limited on and above the control target surface when an excavation operation is input from an operator via the operation device. It equipped with a door,
The control target surface selection unit is
If the control point is on or above the target shape, determine whether the point closest to the control point on the target shape is an inflection point;
When it is determined in the determination that the point closest to the control point is an inflection point and the inflection point is a shoulder, a virtual passing through the inflection point on the target shape corresponding to the inflection point working machine, wherein to Rukoto and the control target surface, such surface.

The work machine according to claim 1,
A setback shape generating unit that generates a setback shape obtained by connecting a plurality of selection reference surfaces setbacking the plurality of target surfaces below the target shape;
The storage unit is a line segment extracted in advance from the contour of the tip portion of the work machine, and stores a control line in which the control point is set,
The control target surface selection unit is
When a part or all of the control line is below the setback shape, and both ends of the control line are above or above the setback shape,
Of a plurality of inflection points constituting the setback shape, a foot of a perpendicular line dropped on the control line is located on the control line, and the perpendicular line is below the setback shape, and An operation characterized in that an inflection point having the maximum perpendicular line is selected, and a virtual surface passing through the inflection point on the target shape corresponding to the selected inflection point is set as the control target surface. machine.

The work machine according to claim 1,
A setback shape generating unit that generates a setback shape obtained by connecting a plurality of selection reference surfaces setbacking the plurality of target surfaces below the target shape;
The storage unit is a line segment extracted in advance from the contour of the tip portion of the work machine, and stores a control line in which the control point is set,
The control target surface selection unit is
When a part or all of the control line is below the setback shape and both ends of the control line are not on or above the setback shape, the control line is closest to the control point on the setback shape Determine if the point is an inflection point,
When it is determined in the determination that the point closest to the control point is an inflection point, and the inflection point is a modulus, it is close to the control point among the two selection reference planes connected to the inflection point. The target surface corresponding to the selection reference surface is the control target surface,
In the determination, it is determined that the point closest to the control point is an inflection point and the inflection point is not an inflection point, or it is determined in the determination that the point closest to the control point is not an inflection point. Then, the work machine is characterized in that a target surface corresponding to the selection reference surface closest to the control point on the setback shape is set as the control target surface.

The work machine according to claim 1,
A setback shape generating unit that generates a setback shape obtained by connecting a plurality of selection reference surfaces setbacking the plurality of target surfaces below the target shape;
The storage unit is a line segment extracted in advance from the contour of the tip portion of the work machine, and stores a control line in which the control point is set,
The control target surface selection unit is
When a part or all of the control line is not below the setback shape, it is determined whether the point closest to the control point on the setback shape is an inflection point,
When it is determined in the determination that the point closest to the control point is an inflection point and the inflection point is a shoulder, a virtual passing through the inflection point on the target shape corresponding to the inflection point A surface to be controlled,
When the determination determines that the point closest to the control point is an inflection point and the inflection point is not a shoulder, or the determination determines that the point closest to the control point is not an inflection point Then, the work machine is characterized in that a target surface corresponding to the selection reference surface closest to the control point on the setback shape is set as the control target surface.